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This repository contains the ROS2 packages necessary to run the Holohover system.
The ROS2 system is designed to run on Docker containers. Setup scripts and documentation can be found in the Holohover Docker repository.
Below is a summary of the packages in this repository. For detailed information, consult the README files within each package.
holohover_firmware: Firmware for the ESP32 used in the earlier version of the hovercraft.holohover_common: Shared code and utilities for other packages.holohover_control: Nodes for controlling a single hovercraft, including control signal generation for System Identification.holohover_dmpc: Implementation of the DMPC distributed controller.holohover_drivers: Code for the Radxa SBCs to control motors and interface with sensors.holohover_mpc: Code for the MPC controller of a single hovercraft.holohover_msgs: Custom ROS2 message definitions.holohover_navigation: Pose estimation using an Extended Kalman Filter (EKF).holohover_simulator: Multibody physics simulator for experiments with multiple hovercraft.holohover_utils: Interface nodes, RViz configurations, launch files, and other utilities.micro_ros: Submodules for Micro-ROS integration, including Micro-ROS Agent and Micro-ROS Messages.mocap_optitrack: Submodule for Optitrack motion capture integration, sourced from PREDICT-EPFL.
Note: The
holohover_firmwareandmicro_rospackages are relevant only for older hovercraft versions.
This repository includes the following submodules:
LAOPTmocap_optitrackmicro_ros:micro_ros_msgsmicro_ros_agentmicro_ros_espidf_component
To cite our work in other academic papers, please use the following BibTex entry:
@INPROCEEDINGS{stomberg2025,
author={Stomberg, Gösta and Schwan, Roland and Grillo, Andrea and Jones, Colin N. and Faulwasser, Timm},
booktitle={International Conference on Robotics and Automation (ICRA)},
title={Cooperative distributed model predictive control for embedded systems: Experiments with hovercraft formations},
year={2025}}
BSD 2-Clause